Hornbein
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https://newatlas.com/technology/abenics-versatile-active-ball-joint-gear/They say this could be used as a shoulder joint for robots. Mind boggling! I'm amazed this has been done in real life.
The model they show seems impractical to me. The ball spins in place but doesn't connect to anything. I guess what they would do would be attach a shaft to that ball, then restrict the motion so the drive gears don't contact the shaft. The ball would have two limited degrees of freedom then a third for the shaft spinning. Very slick.
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